Motor-control circuit



; the motor following will be best understood Patented Feb. 2 6, 1946 Moron-connor. cracurr Robert H. Gumiey, Bell Telephone York,

Whitestone, N. Y., signor-to i Laboratories, Incorporated, N. Y., a corporation of New New York Application June 30,1944, Serial No. 542,972 4 claims (c1. riz-239') This invention relates to motor control systems and more particularly to aircraft trainers whereby in response to electrical changes imposed upon some of the circuits in response to the operation of the flight o1; other controls of the trainer ih simulation of the operation of an aircraft, electrical changes are imposed upon other circuits oi' the trainer.

It is the object of the present invention to provide a control system especially adapted to aircraft trainers, although capable of general usel wherein a reversible direct current motor operable to control the operation of mechanism of thetrainer is operated by alternating current potential to maintain the accurate setting of such mechanism as may be dictated by thesetting of controlling elements. l f

Another object ofthe invention is to provide a control system employing electronic control devices so arranged that such control devices may not be falsely operated by inductive surges from the cessation of driving impulses transmitted through such devices to the motor, which false operation would result in the continuing operation of the motor.

'I'he foregoing objects and others pertinent thereto are accomplished by providing a first pair of electronic devices responsive alternately to the alternate half cycles of either a negative or positive phase unbalance of a network supplied by alternating current potentials from one or more remotely located control elements, which Yestablish the rotorl circuit of a direct current motor upon alternate positive cycles of a second source of alternating current; by providing a second electronic device responsiveonly to the unbalance l of the network in one phase whichA establishes the circuit of a Arelay upon each positive wave of the second source of current to cause a reversal of the rotor circuit of the motor, and a diode tube and series resistance inshunt of the rotor windingof themotor which serve to disconnect the rotor of the motor from the cathode grid circuits of the pair of electronic devices when inductive surges are generated by the motor at the end of each driving impulse through the rotor winding.

The novel features of the invention areset forth in the appended claims and the invention as to its organization and its mode of operation from the following detailed description when read in connection with the single sheet o f dra In the drawing the motor M is provided with a stator or field winding F which is excited from the source Bl of direct current. The rotor circuit of the motor is supplied with 115 volt 60- cycle current supplied from the left divided secondary winding of transformer T3. The potentials produced between the terminals |06 and |01 and between the terminals |01 and |08 will hereinafter 'be referred to as first sources of alternating current of opposite phases pl and 2. The rotorcircuit `extends over contacts of' the reversing relay |09, over contacts of the limit switches LI and L2 and over the cathode-anode paths through the gas-filled control tubes VT4 and VTS when such tubes are in a conducting condition. 'I'he shaft of the motor M is coupled to the driving shaft of a reduction gear box ||0,

- the driven shaft of which is coupled to the shaft |I| upon which are mounted the operating cams of the limit switches LI and L2 and the brush I2 of the balancing potentiometer P2. 'I'he shaft ||I may also be employed to drive other apparatus as may be desired as, for example, the trimming control shaft of a trimming or loading mechanism such as is disclosed in the application of Bohman et al., Serial No. 542,984, filed concurrently herewith.`

For controlling the motor M a dual amplier tu'be VTI, two dual diode rectifying tubes VT2 and VTS, three gas-filled tubes VT4, VTS and VTS, the diode rectifier tube VTT, the reversing relay |09 and the anode relay IIB are provided.

The two units of the dual amplifying tube VTI are connected in tandem and serve to receive an input signaling potential, to amplify it and through the step-up transformer TI to apply it tothe anodes of the rectifier tube VT2. The tube VT2 serves as a full wave rectifier to rectify the input potential applied toits anodes and to apply it as a positive potential to the grids of the gasfilled tubes VTI and VTS. The output potential from the tube VTI is also lower secondary winding of transformer TI to the control grid of the gas-filledl tube VTB.- As hereinbefore stated the diode tube VT'I in serieswith resistance |26 is connected in shunt of the rotor winding of the-motor M. y

Filament heating current for all of these tubes is through the windings of power transformer T2 and direct current 'for furnishing grid bias to the control grids of tubes VT4, VTS and VTS is supplied from the same alternating current source through the power transformer T2 and the dual A rectifier tube VTI. Anode potential oi' 60 cycles is supplied to tubes VTI, VTS and VTB over the secondary winding of transformer T3, the anode applied through the supplied from a source -of alternating current potential supplied to tube VT4 being displaced 180 degrees in phase from the potential supplied to the anode of tube VTS. The anode of the right unit of tube VTI is supplied with anode potential from the direct current source B2 through resistances ||4 and ||5 and the anode of the left unit of tube VTI is supplied with anode potential from the source B2 through resistance II4, through the primary winding of transformer Ti and over the normal contacts of test jack H6.

The motor control circuit may be controlled from a control device, such as the potentiometer PI, over the input circuit through resistance Al, and over the balancing circuit through resistance A2 and through the balancing potentiometer P2. For example, the brush of potentiometer Pl may be controlled by a trimming wheel located beside the pilots seat as fully disclosed in the Bohman et al. application hereinbefore referred to; The windings of potentiometers PI and P2 are energleed from the divided secondarywinding of the signaling potential supply transformer T4, the

potentials supplied to these potentiometer windings being displaced 180 degrees in phase. The

sources of potential connected across the primary winding terminals and 10| and |04 and of transformers T4 and T3 are preferably of different value but phased the same.

It will be assumed that the brush II1 of potentiometer PI is moved until the control circuit for the motor M is no longer balanced and that potential of phase supplied over the right portion of the secondary winding of transformer T4 over the left portion of the winding and brush iii of potentiometer Pi, through resistance AI, condenser C and the Winding of grid biasing control rheostat R3 to ground, predominates over the potential of phase e2 supplied over the left portion of the secondary winding of transformer T4, over the lower portion of the winding and brush i I2 of balancing potentiometer P2, through resistance A2, condenser C and the winding of rheostat R3 to ground. Therefore, a potential of phase pi having a value equal to the difierence between the control potential of phase i and the balancing potential of phase 2 is applied to rheostat R3 and a potential derived therefrom is applied over the slider of rheostat R3 and through resistance I8 to the control grid of the right unit of amplifier tube VTI.

Tube VTI, whose grid-cathode circuit is completed through resistance H9 to ground, is now effective to amplify the input signal potential and to impress it upon the input circuitY of the left unit of tube VTI over a circuit which may be traced from ground through resistance iIB over the cathode-anode paththrough the right unit of tube VTI to the anode thereof, thence through condenser |20 and resistance |2| to the control grid of the left unit of tube VTI. The input circuit for the left unit of tube VTI is completed from the cathode of such unit through resistance |22 to ground. The left unit of tube VTI now further amplifies the input signal pO- tential and impresses it upon the primary winding of step-up transformer TI over` aclrcult which may be traced from ground through resistance |22, over the cathode-anode path through the left unit of tube VTI, over the normal contacts of jack IIB, through the primary winding of transformer TI and resistance I|4 to the snode supply battery B2.

The potential applied to the primary winding of transformer TI is impressed upon the secondsry windings thereof and stepped up thereby.

This stepped-up potential is then applied over the upper secondary winding of transformer TI through the full wave rectifier tube VT2 and resistances |23 and |24 to the control grids of gasfilled tubes VT4 and VTB where it appears as a positive potential of phase 2.

Normal negative biasing potential is applied to the control grids of tubes VT4 and VTS from the left secondary winding of power transformer T2 and through the right unit of rectifier tube VT3 so that the tubes VT4 and VTS are critically biased when no signal is being received. The biasing circuit for tube VT4 may be traced from the grid thereof through resistances |23 and |25, to the slider of rheostat R2, over the anodecathode path through the right unit of tube VT3. through the left secondary winding of transformer T2 and through resistance |26 to the cathode of tube VT4. A similar biasing circuit extends from the grid of tube VT5, through resistances |24 and |25 and thence as traced through resistance |26 to the cathode of tube VTS.

Alternating current potential of 60 cycles applied from a source connected to terminals |04 and |05 of the primary Winding of transformer T3 is impressed upon the secondary winding of such transformer and, such secondary winding having its midpoint groundedl potentials 180 derees apart in phase are derived from the two portions `of the secondary Winding. Potential of phase ci is applied from the lower portion of the secondary winding through the choke coil |21 to the anode of tube VT5 and potential of phase 2 is applied from the upper portion of the secondary winding through the choke coil |20 to the anode of tube VT4.

Since the tube VT2 serves as a, full wave rectifier, at the instant the signaling potential appears as a positive potential on the grid of tube VT4, the anode of tube VT4 will also be positive and tube VT4 will therefore fire and apply a positive impulse of current over a circuit from ground through the upper portion of the secondary winding of transformer T3 through choke coil |28, over the anode-cathode path through tube VT4, over the left back contacts of reversing relay |09, through the rotor of motor M, over the right back contacts of relay |09 and over the normal contacts of limit switch L2 to ground. During the next half cycle of the signaling potential when it again appears as a positive potential on the grid of tube VTS, the anode of tube VTS will also be positive since the source connected to the terminals |04 and |04 is in phase with the source of signaling current and tube VTB will fire and apply a positive impulse of current over s circuit from ground through the lower secondary winding of transformer Tl, through the choke coil |21, over the anode-cathode path through tube VTI., over the left back contacts of relay |09 and thence as traced through the rotor circuit of motor M to ground. Thus tubes VT4 and VTS alternately function on successive half waves ofthe signaling potential to transmit impulses of lcurrent through the rotor of motor M.

Atthe instant thatthe signal potential of phase o2 is impressed upon the grids of tubes VT4 and VTI potential of the same phase is imbiasing circuit for tube VTS may be traced from its grid through resistance 12S, through the lower secondary winding of transformer TI to the slider of rheostat RI, over the anode-cathode path through the left unit of tube VT3 and through the filament oftube VTS to the cathode of such tube.

At this instant the anode of tube VTS is supplied with negative anode potential of phase I over a circuit from ground through the lower portion of the secondary winding of transformer T3, through the ballastlamp resistance BL, thence in parallel through resistance |30 and the winding of anode relay IIS` through choke coil III to the anode of tube VTS. With positive potential of phase r2 connected to its grid and negative potential of phase I connected to its anode terbalanced by the counter-electromotive force of the motor.

The diode tube VTT, however, prevents this false nring condition since the potential which appears across the anode and cathode of the tubel VTI. due to any inductive surge generated by the motor is opposite in polarity to the counter-electromotive force of the motor and, theretube VTS does not fire and relay H3 does not g operate and consequently relay I 09, which is controlled by relay H3 over an obvious circuit, is not operated. With relay I|l9 unoperated the rotor circuit of motor M extends as previously traced. The rotor winding is energized by impulses of currenttransmitted therethrough by the alternate tiring of tubes VT4 and VTS and with the stator circuit of the motor energized by current from the direct current source BI, the motor is operated in a direction to rotate the brush II2 of potentiometer P2 toward the lower terminal of its winding,

With the motor running, the counter-electrol motive force generated thereby appears as a positive potential over a circuit through resistance I'2S upon the anode of the diode tube VTI the cathode of which tube is connected to ground..

The poling of tube VTI is such that current will ilow under this condition through the tube so connecting the bias circuit for the tubes VT4 and VTS to ground through the tube VTT and thereby placing the rotor of the motor into the grid-cathode circuits of the /VTA and VTS tubes. The counter-electromotive force of the motor will now make the cathodes of tubes VT4 and 'VTS more positive with respect to their grids.

Vfore applies a negative potential at the anode of tube VTI thereby keeping tube VTl from conducting. Since the tube VTI is not conducting under this condition, the bias circuit for either tube VT4 or VTS is disconnected from ground through tube VTT and is connected instead through resistance I2S to the 'cathodes of tubes,

VT4'and VTS. The motor is now no longer in the grid-cathode circuitof either tube VT4 or VTS so that the transient inductive potentials which occur across the motor will not nre tubes VT4 and VTS. After these inductive surges from the motor have become dissipated, the counterelectromotive force, if any, will again make the tube VT'I conducting so reconnecting the rotor into the grid-cathode of either tube VT4l or VTS to again provide speed control under the supervision of the incoming signal.

As the brush of potentiometer P2 moves toward its lower winding terminal under the control of motor M as just described, potential of phase o2 applied over the circuit ypreviously traced through rheostat R3v will increase in value until it balances the potential of phase I applied from l no signal potential is impressed upon the grids of Shaft III has thus been tubes VT4 and VTS. rotated in a direction to operate any apparatus connected therewith to an amount commensurate with the setting of the potentiometer PI.

signaling potential becomes reduced to a zero Y value through the counterbalancing effect of the counter-electromotive force, an inductive ing impulse through the rotor circuit of the motor. When this impulse ceases through the extinguishing of the red tube another inductive surge potential applied from (the lmotor may fsimilarly falsely fire the other tube so that in this manner the motor may continue to voperate l even though no signaling potential is being re- -ceived or the signaling potential is entirely coun- Y whose anode is at `the time positive might falsely lilre thereby transmitting another or false driv- It will now be assumed that a condition arises whereby the brush of potentiometer PI is now moved toward the right terminal of its windingv whereby the potential of phase el applied over the left portion of its winding through rheostat R3 is reduced in value so that now the potential of phase 412 applied through rheostatR3 and over the lower portion of the winding of the balancing potentiometer P2 now predominates and this Predominating potential of phase 452 will now be applied to the control grid of tube VTI. Tube LV'I'I now amplitles this potential and impresses it through the windings of transformer TI upon the control grids of tubes VT4 and VTS as a positive signaling potential.

In the manner previously described the tubes VT4 and VTS will alternately nre in response to the signaling potential and tube VTS will also fire since the signaling potential applied to its con-f trol grid is in phase with the anode potential applied to its anode over the circuit from ground through the lower portion of the secondary wind# ing of transformer T3, through the ballast lamp resistance BL, through resistance |30 and the winding of anode relay H3 in parallel, through choke coil ISI and to the anode of tube VTS. Consequentiy anode relay I Itis operated in turn operating reversing relay |09 which latte; relay reverses the rotor circuit of the motor M with re'- spect to the cathode-anode paths through the tubes VT4 and VTS. With the stator circuit oi motor M energized from the battery BI and the rotor circuit of the motor energized by impulses of positive current transmitted alternately therethrough over the cathode-anode paths through the tubes VT4 and VTS the motor will now be driven in such a direction of rotation as to rotate the shaft III and move the brush II2 of potentiometer P2 toward the upper terminal of its winding.

AS the brush of potentiometer P2 thus moves the potential of phase p2 transmitted thereover through the rheostat R3 is decreased thereby reducing the unbalance of the control circuit and the value of the signaling pot'ential applied to the grids of tubes VT4, VTS and VTS. The motor M thereupon slows down and when the brush of potentiometer P2 is so positioned that the potential of phase o2 applied thereover equals the potential of phase ol applied over the brush of potentiometer PI no signaling potential will appear on the grids of tubes VT4 and VTS and the motor will therefore come to rest.

In the event that the rotation of the motor M is not arrested through the balancing action of the potentiometer P2, either limit switch -LI or L2, dependent upon the direction of rotation of the shaft lI I I, will be operated to open the rotor circuit of the motor beforethe brush H2 will have been rotated oil an end of the winding of potentiometer P2 thus guarding the potentiometer and any other apparatus controlled by the shaft I I I against injury.

What is claimed is:

l. In an electrical network unbalanced by a change inthe magnitude of a condition under measurement, a motor having a rotor circuit and a stator circuit, a rst and a second electronic device alternately responsive to alternate half cycles of alternating current upon the unbalance of said network in either a positive or a negative sense to establish the rotor circuit of said motor, a diode tube and a resistance bridged in series across the rotor winding of said motor for preventing the false operation of either of said devices due to the inductive surges from the motor following the cessation of driving impulses transmitted through said rotor circuit, and means controlled by said motor for restoring the balance to said network.

2. In an electrical network `unbalanced by a change in the magnitude of a condition under measurement, a motor having a rotor circuit and a stator circuit, a first and a second electronic device alternately responsive to alternate half cycles of alternating current upon the unbalance of said network in either a positive or a negative sense to establish the rotor circuit of said motor, a diode tube and a resistance bridged in series across the rotor winding of said motor and so poled as to be conducting in response to the counter-electromotive force of said motor but nonvIsls conducting to inductive surges generated by said motor whereby the inductive surges from the motor following the cessation of driving impulses transmitted through said rotor circuit are ineiective to cause the false operation of either of said devices, and means controlled by said motor for restoring the balance to said network.

3. In an electrical network, a rst source of alternating current, means for applying potential from said source to said network to cause an unbalancc thereof in accordance with a change in the magnitude of a condition under measurement, a direct current motor having a rotor circuit and a stator circuit, a source of direct current for energizing said stator circuit, second sources of alternating current of opposite phase, a rst electronic device having its anode potential supplied from one of said latter sources in series with said rotor circuit, a second electronic device having its anode potential supplied from the other of said latter sources in series with said rotor circuit, said devices being alternately responsive to alternate half cycles of said ilrst source of alternating current to cause the transmission of impulses through said rotor circuit whereby said motor is operated, a diode tube and a resistance bridged in series across the rotor winding of said motor for preventing the false operation oi' either of said devices due to the inductive surges from said motor following the cessation of driving impulses transmitted through its rotor circuit, and means controlled by said motor to restore the balance to said network to thereby arrest the rotation oi said motor.

4. In an electrical network unbalanced by a change in the magnitude of a condition under measurement, a direct current motor having a rotor circuit and a stator circuit, a source of direct current for energizing said stator circuit, a source of alternating current, a rst and a second electronic device alternately responsive to alternating half waves of said source of alternating current upon the unbalance o! said network In either a positive or a negative sense to connect said source of alternating current to the rotor cricuit of said motor, a third electronic device responsive to the unbalance of said network in one of said senses, a relay operable by said latter device to reverse the direction of current flow through the rotor circuit of said motor, a diode tube and a resistance bridged in series across the rotor winding of said motor for preventing the false operation of either said first or second device due to the inductive surges from the motor following the cessation of driving impulses transmitted through said rotor circuit. and means controlled by said motor for restoring the balance to said network to thereby arrest the rotation of said motor.

ROBERT H. GUMLEY. 

